\hypertarget{md_doc_sphinx_source_General_Install_autotoc_md24}{}\doxysection{Setup the environment}\label{md_doc_sphinx_source_General_Install_autotoc_md24}
\hypertarget{md_doc_sphinx_source_General_Install_autotoc_md25}{}\doxysubsection{suggested platform}\label{md_doc_sphinx_source_General_Install_autotoc_md25}

\begin{DoxyItemize}
\item operate sysem\+: Ubuntu 22.\+04.\+4 L\+TS
\item compile\+: G\+CC 11.\+4.\+0 
\end{DoxyItemize}\hypertarget{md_doc_sphinx_source_General_Install_autotoc_md26}{}\doxysubsection{install dependencies}\label{md_doc_sphinx_source_General_Install_autotoc_md26}
This repository simulates the \char`\"{}\+Azure\+Loong\char`\"{} humanoid robot. Some dependencies including mujoco, pinocchio, eigen, quill, G\+L\+FW, jsoncpp are already contained in the code, but the simulation still needs open\+GL, which can be installed by executing the following instruction\+: 
\begin{DoxyCode}{0}
\DoxyCodeLine{sudo apt install libglu1-\/mesa-\/dev freeglut3-\/dev}
\end{DoxyCode}
\hypertarget{md_doc_sphinx_source_General_Install_autotoc_md27}{}\doxysubsection{simulation software}\label{md_doc_sphinx_source_General_Install_autotoc_md27}
This code can be deployed on \href{https://github.com/google-deepmind/mujoco/releases}{\texttt{ Mujoco}}, the installing instructions are as follow\+:


\begin{DoxyEnumerate}
\item download the mujoco file\+: 
\begin{DoxyCode}{0}
\DoxyCodeLine{mkdir \string~/.mujoco}
\DoxyCodeLine{tar -\/zxvf mujoco-\/3.1.3-\/linux-\/x86\_64.tar.gz -\/C \string~/.mujoco}
\DoxyCodeLine{gedit \string~/.bashrc}
\end{DoxyCode}

\item add at the end of the file\+: 
\begin{DoxyCode}{0}
\DoxyCodeLine{export LD\_LIBRARY\_PATH=\string~/.mujoco/mujoco210/bin}
\end{DoxyCode}

\item save the file and test\+: 
\begin{DoxyCode}{0}
\DoxyCodeLine{source \string~/.bashrc}
\DoxyCodeLine{cd \string~/.mujoco/mujoco-\/3.1.3/bin}
\DoxyCodeLine{./simulate ../model/humanoid.xml}
\end{DoxyCode}

\end{DoxyEnumerate}\hypertarget{md_doc_sphinx_source_General_Install_autotoc_md28}{}\doxysection{Code Fetch and Compilation}\label{md_doc_sphinx_source_General_Install_autotoc_md28}
The code can be downloaded in gitee or you can clone the repository using git 
\begin{DoxyCode}{0}
\DoxyCodeLine{\# Clone}
\DoxyCodeLine{git clone https://gitee.com/panda\_23/openloong-\/dyn-\/control.git}
\DoxyCodeLine{}
\DoxyCodeLine{\# Build}
\DoxyCodeLine{cd openloong-\/dyn-\/control}
\DoxyCodeLine{mkdir build}
\DoxyCodeLine{cd build}
\DoxyCodeLine{cmake ..}
\DoxyCodeLine{make}
\DoxyCodeLine{}
\DoxyCodeLine{\# mujoco simulation}
\DoxyCodeLine{./Walk\_mpc\_wbc \#or ./Walk\_wbc or ./Jump\_mpc}
\end{DoxyCode}
 